Control of a snake-like robot using the screw drive mechanism

Masaya Hara, Shogo Satomura, Hiroaki Fukushima, Tetsushi Kamegawa, Hiroki Igarashi, Fumitoshi Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

In this paper, we develop a prototype of a new snake-like robot using the screw drive mechanism, and design a control system design for trajectory tracking. First, we explain the outline of the snake-like robot using the screw drive units and joint units, as well as the principle of the screw drive mechanism. Next, in order to achieve the trajectory tracking of the robot, we derive a kinematic model. Finally, the validity of the derived model and the effectiveness of the proposed control system are demonstrated by simulations and experiments.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3883-3888
Number of pages6
DOIs
Publication statusPublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

Fingerprint

Robots
Trajectories
Control systems
Kinematics
Systems analysis
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Hara, M., Satomura, S., Fukushima, H., Kamegawa, T., Igarashi, H., & Matsuno, F. (2007). Control of a snake-like robot using the screw drive mechanism. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3883-3888). [4209692] https://doi.org/10.1109/ROBOT.2007.364074

Control of a snake-like robot using the screw drive mechanism. / Hara, Masaya; Satomura, Shogo; Fukushima, Hiroaki; Kamegawa, Tetsushi; Igarashi, Hiroki; Matsuno, Fumitoshi.

Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 3883-3888 4209692.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hara, M, Satomura, S, Fukushima, H, Kamegawa, T, Igarashi, H & Matsuno, F 2007, Control of a snake-like robot using the screw drive mechanism. in Proceedings - IEEE International Conference on Robotics and Automation., 4209692, pp. 3883-3888, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 4/10/07. https://doi.org/10.1109/ROBOT.2007.364074
Hara M, Satomura S, Fukushima H, Kamegawa T, Igarashi H, Matsuno F. Control of a snake-like robot using the screw drive mechanism. In Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 3883-3888. 4209692 https://doi.org/10.1109/ROBOT.2007.364074
Hara, Masaya ; Satomura, Shogo ; Fukushima, Hiroaki ; Kamegawa, Tetsushi ; Igarashi, Hiroki ; Matsuno, Fumitoshi. / Control of a snake-like robot using the screw drive mechanism. Proceedings - IEEE International Conference on Robotics and Automation. 2007. pp. 3883-3888
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